文章摘要
徐仲勋,刘建新,王亚威,曾嫱.一种基于标记码的AGV小车导航修正方法[J].机床与液压,2018,46(3):58-62.
.A Correction Method for AGV Navigation Based on Marker Code[J].Machine Tool & Hydraulics,2018,46(3):58-62
一种基于标记码的AGV小车导航修正方法
A Correction Method for AGV Navigation Based on Marker Code
  
DOI:10.3969/j.issn.1001-3881.2018.03.015
中文关键词: 修正位置  标记码  轮廓树  自动搬运小车  匹配  位姿
英文关键词: Correct position  Marker codes  Contours tree  AGV  Match  Coordinates and pose
基金项目:
作者单位E-mail
徐仲勋 西华大学机械工程学院 jamson_liu@163.com 
刘建新 西华大学机械工程学院  
王亚威 西华大学机械工程学院  
曾嫱 西华大学机械工程学院  
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中文摘要:
      在自动导航小车(Automated Guided Vehicle,AGV)系统中,二维码可以用来进行站点识别和位置修正。但是,常见的QR二维码存在解码时间长的问题,为此,设计了一种简易的标记二维码,来加快信息提取的速度。通过对采集的二维码图像进行预处理后,基于轮廓树算法提取图像中的二维码信息,通过与标准图像进行匹配获得AGV在定位块处的位置和姿态,从而实现AGV小车定位误差的消除和姿态调整,并获取与站点相关的信息。实验结果表明:所设计的标记二维码具有鲁棒性好、精度高和较好的实时性。
英文摘要:
      Two-dimension (2D) code could be used to recognize and correct position in the system of Automated Guided Vehicle (AGV). But the common code of Quick Response (QR) 2D code has a problem that the process of decoding QR code spends long time. So a simpler 2D code of marker code is designed to make the speed of extracting information faster. Through dealing in advance with the marker code image, the marker code’s 2D information was gotten from the image base on the Contour tree algorithm. Let the image match the normal image, the position and pose of AGV were gained. After that, the error of AGV coordinates and pose were fixed. The experimental result shows that the method of 2D marker code is robust, high accuracy and good in real time.
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